Add asset kitchen_supplies/storage/ff1ffd4756b2567bad50667ca4a9ca16

.gitattributes

@@ -7195,3 +7195,4 @@ dataset/kitchen_supplies/storage/f6e8a9a1ce895e7bafa70bdeb5c64d3d/affordance/mes
 dataset/kitchen_supplies/storage/f77e9c34cc1a516c95acdfe49ca1a03c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/fc6d81223641528f975dd2c207544775/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/f9be7d99331357489aa482f49ee5b03f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/ff1ffd4756b2567bad50667ca4a9ca16/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/ff1ffd4756b2567bad50667ca4a9ca16/affordance/affordance_annot.json

@@ -0,0 +1,515 @@
+{
+    "affordances": [
+        {
+            "part_name": "base panel",
+            "mask_color": "Deep Sky Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "support the bin from below during a two-handed pickup",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "contact the underside to stabilize while placing the bin",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "support contents from below",
+                "form the bottom of the container",
+                "provide structural base",
+                "rest on surfaces"
+            ],
+            "semantic_description": "Large off-white rectangular underside panel, smooth matte hard surface, forming the flat bottom of the storage bin.",
+            "id": 22,
+            "grasp_group": {
+                "grasp_112": {
+                    "confidence": 0.7075949311256409,
+                    "position": [
+                        0.03230521595105529,
+                        0.2681290293112397,
+                        -0.06302683055400848
+                    ],
+                    "orientation": {
+                        "w": 0.5714779450476904,
+                        "xyz": [
+                            0.4276887248205611,
+                            0.517797397990108,
+                            -0.4715730777091762
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front wall panel",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper edge/front wall to reposition the bin",
+                    "confidence": 0.66
+                },
+                {
+                    "scenario": "stabilize the front face during lifting",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "form front side of the enclosure",
+                "provide structural support",
+                "support latch mounting"
+            ],
+            "semantic_description": "Cream to light beige front wall with decorative square tile insets and a centered clasp area, smooth matte hard finish.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_8": {
+                    "confidence": 0.5464520454406738,
+                    "position": [
+                        0.0315813566558063,
+                        0.26154495123773813,
+                        0.13575751334428787
+                    ],
+                    "orientation": {
+                        "w": 0.4405714511864418,
+                        "xyz": [
+                            0.5702697288426988,
+                            -0.3880874255233302,
+                            0.5745236138887778
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "rear wall panel",
+            "mask_color": "Dark Slate Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the back wall externally to rotate or reposition the bin",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "stabilize the bin from the rear during pickup",
+                    "confidence": 0.57
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "form rear enclosure",
+                "provide structural rigidity",
+                "maintain container shape"
+            ],
+            "semantic_description": "Light cream rear wall panel with a horizontal decorative band near the lower half and a smooth matte hard surface.",
+            "id": 34,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side wall panel",
+            "mask_color": "Lawn Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a side wall externally to slide or reposition the bin",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "stabilize the bin by clamping a side wall during pickup",
+                    "confidence": 0.59
+                }
+            ],
+            "functional_labels": [
+                "contain items",
+                "form side enclosure",
+                "provide structural rigidity",
+                "support side handle cutout"
+            ],
+            "semantic_description": "Cream-colored side wall section with an elongated handle cutout near the top and smooth matte finish.",
+            "id": 24,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side handle cutout",
+            "mask_color": "Dark Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "insert gripper fingers into the side cutout to lift the bin",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "hook or pinch the cutout edge to pull the bin from a shelf",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "provide handhold",
+                "enable lifting",
+                "enable pulling from shelf",
+                "indicate carrying location"
+            ],
+            "semantic_description": "Rounded rectangular slot near the top of each side wall, exposing a smooth hard interior edge with a tan surround.",
+            "id": 29,
+            "grasp_group": {
+                "grasp_187": {
+                    "confidence": 0.5353613495826721,
+                    "position": [
+                        -0.00518857641145587,
+                        0.2633418822661042,
+                        0.14725198596715927
+                    ],
+                    "orientation": {
+                        "w": 0.5296185429093367,
+                        "xyz": [
+                            0.47785227671793823,
+                            0.519791261128311,
+                            -0.4700834452485159
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front latch clasp",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the latch tab to open or close the clasp",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "use the clasp as a light manipulation point while aligning the front",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "secure front closure area",
+                "enable opening and closing interaction",
+                "provide manipulation point",
+                "attach to front strap"
+            ],
+            "semantic_description": "Small gold-toned metal clasp centered on the front face, reflective and protruding slightly from the surface.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "vertical front strap",
+            "mask_color": "Yellow Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "anchor latch hardware",
+                "provide decorative trim",
+                "visually divide front tiles"
+            ],
+            "semantic_description": "Narrow gold-toned vertical strip on the front face beneath the clasp, likely metal or metallic trim, extending downward across the decorative panel area.",
+            "id": 33,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner post",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a corner post to stabilize the bin during lifting",
+                    "confidence": 0.57
+                },
+                {
+                    "scenario": "hold a corner to rotate the bin into alignment",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "reinforce corners",
+                "connect adjacent wall panels",
+                "protect edges",
+                "provide structural frame"
+            ],
+            "semantic_description": "Slim tan vertical members at the bin corners, smooth hard finish with a slightly rounded profile.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner cap",
+            "mask_color": "Light Salmon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect corner ends",
+                "reduce wear at corners",
+                "provide decorative accent"
+            ],
+            "semantic_description": "Small rounded tan cap pieces at the upper and lower corners, smooth hard trim elements attached over corner ends.",
+            "id": 35,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top rim rail",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the top rim from above to lift or reposition the bin",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the rim to steady the bin while loading or unloading contents",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "stiffen top opening",
+                "define opening boundary",
+                "provide gripping edge",
+                "support side walls"
+            ],
+            "semantic_description": "Cream-colored upper rim framing the open top, broad and smooth with a matte hard finish.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower trim band",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide decorative accent",
+                "visually separate upper and lower wall sections",
+                "cover joint between panel bands"
+            ],
+            "semantic_description": "Thin light beige trim strip running horizontally around the exterior walls between the upper and lower decorative sections.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "bottom trim rail",
+            "mask_color": "White",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect lower edge",
+                "stiffen base perimeter",
+                "form bottom edge trim"
+            ],
+            "semantic_description": "Narrow pale trim rail along the lower perimeter where the walls meet the base, smooth and hard.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "decorative tile inset",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate exterior",
+                "cover wall section",
+                "provide visual contrast"
+            ],
+            "semantic_description": "Blue-green decorative square inset on the outer wall, flat and smooth with patterned ornamentation.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "decorative tile inset",
+            "mask_color": "Peach",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate exterior",
+                "cover wall section",
+                "provide visual variation"
+            ],
+            "semantic_description": "Tan or cream decorative square inset on the outer wall, flat hard surface with ornamental patterning.",
+            "id": null
+        },
+        {
+            "part_name": "decorative tile inset",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate exterior",
+                "cover wall section",
+                "provide visual contrast"
+            ],
+            "semantic_description": "Dark blue decorative square inset with gold-like motifs on the lower exterior wall, flat and smooth.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "round contents item",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pick up an individual round item from inside the bin",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "stored item",
+                "occupy bin interior",
+                "demonstrate container use"
+            ],
+            "semantic_description": "Round yellow item inside the bin, smooth and cylindrical or puck-like, resting on the interior floor among other pieces.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "round contents item",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pick up an individual round item from inside the bin",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "stored item",
+                "occupy bin interior",
+                "demonstrate container use"
+            ],
+            "semantic_description": "Round green item inside the bin with a smooth hard-looking surface and flat circular top.",
+            "id": 9,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.48858320713043213,
+                    "position": [
+                        0.1665618526749313,
+                        0.2685987735167146,
+                        0.035498565062880516
+                    ],
+                    "orientation": {
+                        "w": 0.7323857014071995,
+                        "xyz": [
+                            0.6754740659679506,
+                            -0.06532524118152583,
+                            -0.055484983946876336
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "round contents item",
+            "mask_color": "Gainsboro",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pick up an individual round item from inside the bin",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "stored item",
+                "occupy bin interior",
+                "demonstrate container use"
+            ],
+            "semantic_description": "Round pale cream to light pink item inside the bin, smooth and puck-like.",
+            "id": 28,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "round contents item",
+            "mask_color": "Hot Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pick up an individual round item from inside the bin",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "stored item",
+                "occupy bin interior",
+                "demonstrate container use"
+            ],
+            "semantic_description": "Small pink circular item inside the storage bin, smooth hard-looking and resting among the other contents.",
+            "id": 23,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "round contents item",
+            "mask_color": "Violet",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pick up an individual round item from inside the bin",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "stored item",
+                "occupy bin interior",
+                "demonstrate container use"
+            ],
+            "semantic_description": "Large purple-toned round item inside the bin with a broad flat circular top surface.",
+            "id": 20,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "round contents item",
+            "mask_color": "Crimson",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pick up an individual round item from inside the bin",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "stored item",
+                "occupy bin interior",
+                "demonstrate container use"
+            ],
+            "semantic_description": "Small to medium red round item inside the bin, smooth and puck-like.",
+            "id": 16,
+            "grasp_group": {
+                "grasp_75": {
+                    "confidence": 0.42046642303466797,
+                    "position": [
+                        0.23879649816080928,
+                        -0.18522054608911276,
+                        -0.06590789556503296
+                    ],
+                    "orientation": {
+                        "w": 0.5195712918158012,
+                        "xyz": [
+                            -0.4996395388522398,
+                            -0.48883920017436355,
+                            0.49136772412244284
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "round contents item",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pick up an individual round item from inside the bin",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "stored item",
+                "occupy bin interior",
+                "demonstrate container use"
+            ],
+            "semantic_description": "Medium blue circular item inside the storage bin, smooth hard-looking and resting among other round contents.",
+            "id": 2,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask-color/part matches and visual descriptions are wrong; decorative insets and front/rear wall assignments are inconsistent."
+    }
+}

dataset/kitchen_supplies/storage/ff1ffd4756b2567bad50667ca4a9ca16/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b920fce0f58748c03b8b3c54b60e4ecf72c2822c644e4404e8fdf6346ee27c8c
+size 3834580

dataset/kitchen_supplies/storage/ff1ffd4756b2567bad50667ca4a9ca16/storage_bin_035.urdf

@@ -50,16 +50,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>38</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>
-               <mesh filename="None" scale="1.0 1.0 1.0" />
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
             </geometry>
          </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
       </affordance>
       <quality>
-         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>YES</PartSegChecker>
       </quality>
    </custom_data>
 </robot>